High Accuracy Analysis of SCARA Industrial Robot Based on Screw Theory

2011 ◽  
Vol 130-134 ◽  
pp. 249-255
Author(s):  
Liang Zhao ◽  
Meng Su ◽  
Yun Chen Miao
Keyword(s):  
Screw Theory ◽  
Industrial Robot ◽  
Dynamic Error ◽  
Error Model ◽  
Industrial Robots ◽  
Inertia Force ◽  
Static System ◽  
Static Error ◽  
Robot System ◽  
Error Sources

Error sources which influence the end-executor’s accuracy are summarized. Based on an analysis of influence caused by the structural error and transmission error, we build a pose error model of industrial robots with screw theory. If regarding the inertia force of the robot system as the external force, the robot system will become a static system. The rigidity can be analyzed using the screw theory, then we establish the dynamic error modle which is caused by the inertia force and gravity. After the error parameters which influence the static error of Selective Compliance Assembly Robot Arm (SCARA) robot are expressed by two-dimensional discrete variable, error space of the end-executor’s track of robot are made. Position error which influenced by the error sources are analysed by comparision of difference. Total accuracy can be improved through controlling the error direction of the static error to counteract the dynamic error's influence. The error model provides an effective theoretical support for the design of industrial robots with different accuracy requirements.

scholarly journals Research of Calibration Method for Industrial Robot Based on Error Model of Position

2021 ◽  
Vol 11 (3) ◽  
pp. 1287
Author(s):  
Tianyan Chen ◽  
Jinsong Lin ◽  
Deyu Wu ◽  
Haibin Wu
Keyword(s):  
Coordinate System ◽  
Industrial Robot ◽  
Calibration Method ◽  
Error Model ◽  
Position Error ◽  
Industrial Robots ◽  
Positioning Error ◽  
Robot Position ◽  
General Measurement ◽  
Parameter Error

Based on the current situation of high precision and comparatively low APA (absolute positioning accuracy) in industrial robots, a calibration method to enhance the APA of industrial robots is proposed. In view of the "hidden" characteristics of the RBCS (robot base coordinate system) and the FCS (flange coordinate system) in the measurement process, a comparatively general measurement and calibration method of the RBCS and the FCS is proposed, and the source of the robot terminal position error is classified into three aspects: positioning error of industrial RBCS, kinematics parameter error of manipulator, and positioning error of industrial robot end FCS. The robot position error model is established, and the relation equation of the robot end position error and the industrial robot model parameter error is deduced. By solving the equation, the parameter error identification and the supplementary results are obtained, and the method of compensating the error by using the robot joint angle is realized. The Leica laser tracker is used to verify the calibration method on ABB IRB120 industrial robot. The experimental results show that the calibration method can effectively enhance the APA of the robot.

scholarly journals Analysis of Core Technology Problems and Countermeasures in the Robot Industry

2021 ◽  
Vol 5 (6) ◽  
pp. 19-24
Author(s):  
Xiguang Zhang
Keyword(s):  
Industrial Robot ◽  
Strong Dependence ◽  
Industrial Robots ◽  
Robot System ◽  
High Quality ◽  
Core Technology ◽  
Key Technologies ◽  
Core Components ◽  
Basic Technology ◽  
Technology Level

Since 2013, China has been the world’s largest market for industrial robots. Despite the gradual maturity of the industrial robot system, the lagging R&D and backward technology level of industrial robots have led to a strong dependence on the import of core components and key technologies, which to a certain extent has restricted the development and improvement of industrial robots. At present, the “neck problem” in the field of industrial robots in China is not only in the reducer, controller, and servo but also in the basic processing equipment, basic technology, and basic materials. In this paper, we propose measures to improve the “neck problem” of industrial robots to promote the high-quality development of industrial robots in China.

A Semiparametric Model-Based Friction Compensation Method for Multi-Joint Industrial Robot

2021 ◽  
Author(s):  
Miao He ◽  
Xiaomin Wu ◽  
Guifang Shao ◽  
Yuhua Wen ◽  
Tundong Liu
Keyword(s):  
Industrial Robot ◽  
Lyapunov Theory ◽  
Industrial Robots ◽  
Learning Ability ◽  
Robot System ◽  
Joint Friction ◽  
Tracking Tasks ◽  
Physical Information ◽  
The Stability ◽  
Six Degree Of Freedom

Abstract Industrial robots have received enormous attention due to their widespread uses in modern manufacturing. However, due to the frictional discontinuous and other unknown dynamics in robotic system, existing researches are limited to simulation and single- or double-joint robot. In this paper, we introduce a semiparametric controller combined by a radial basis function neural network (RBFNN) and complete physical model considering joint friction. First, to extend the NN controller to real-world problems, the continuously differentiable friction (CDF) model is adopted to bring physical information into the learning process. Then, RBFNN is employed to approximate the model error and other unmolded dynamics, and the parameters of CDF model are updated online according to its learning ability. The stability of the robot system can be guaranteed by the Lyapunov theory. The primary parameters of CDF model are determined by the identification experiment and subsequently iteratively updated by the NN. Real-time tracking tasks are performed on a six degree of freedom (DoF) manipulator to follow the desired trajectory. Experimental results demonstrate the effectiveness and superiority of the proposed controller, especially at low speed.

Hochpräzises Bearbeiten von Schiffspropellern*/High-precision machining of very large ship propellers

2017 ◽  
Vol 107 (03) ◽  
pp. 182-188
Author(s):  
S. Dryba ◽  
J. Meißner ◽  
M.-C. Prof. Wanner ◽  
O. Wurst
Keyword(s):  
Industrial Robot ◽  
Vital Role ◽  
Industrial Robots ◽  
Precision Machining ◽  
Heavy Duty ◽  
Robot System ◽  
Work Spaces ◽  
Large Ship ◽  
Flexible Applications ◽  
Large Work

In der industriellen Fertigung sind Industrieroboter weit verbreitet [1]. Durch ihre Flexibilität und Schnittstellenvielfalt sind sie für den Ansatz Industrie 4.0 von immenser Bedeutung. Einige Bereiche der Industrie, beispielsweise Gießereien, sind bisher von dieser Entwicklung ausgeschlossen. Viele Werkstücke, die hier zu handhaben oder bearbeiten sind, überschreiten die Arbeitsräume und Lastmomente verfügbarer Industrierobotersysteme. Der Fachbeitrag beschreibt die Entwicklung eines Schwerlast-Großrobotersystems sowie dessen Applikation in einer Gießerei für große Werkstücke.   The use of industrial robots is prevalent in today’s industry [1]. Due to flexible applications and a large variety of interface options, they play a vital role in implementing “Industry 4.0”. As industrial robots offering sufficiently large work spaces and handling heavy payloads are not available today, specific industrial areas, such as foundries, have been mostly excluded from this progress. This paper describes the development of a new heavy-duty industrial robot system, as well as its application in a foundry for large workpieces.

Mathematical Model for the Effect of Dynamic Parameter Posed on Free Floating Space Manipulator’s Kinematic Accuracy

2011 ◽  
Vol 216 ◽  
pp. 254-260 ◽  
Author(s):  
Yue Sheng Tan
Keyword(s):  
Screw Theory ◽  
Error Model ◽  
Space Robot ◽  
Structural Parameter ◽  
Kinematic Error ◽  
Space Manipulator ◽  
Error Sources ◽  
Kinematic Accuracy ◽  
Mass Error ◽  
Kinematic Error Model

Aiming at kinematic accuracy and its’ error sources of a free floating space robot, a mathematical kinematic error model based on the concept of virtual manipulator and screw theory is proposed in this paper for a free-floating space robot. Based on screw theory, structural parameters in the form of motion screw and their error expressions derived from various error sources are deduced. The effect of mass error, CM (Center of Mass) error and structural parameter error on the kinematic accuracy of the free-floating space manipulator is analyzed. A simulation is demonstrated for verifying the correctness of the kinematic error model and the effect of various error sources on the free-floating space robot. The error model and the result deriving from analyzing are vital for studying the kinematic accuracy of the space manipulator when it is under a free-floating mode, and for controlling and assigning various errors when a space robot is developed.

scholarly journals Dynamic Simulation Modeling of Industrial Robot Kinematics in Industry 4.0

2022 ◽  
Vol 2022 ◽  
pp. 1-11
Author(s):  
Guang Jin ◽  
Shuai Ma ◽  
Zhenghui Li
Keyword(s):  
Dynamic Simulation ◽  
Trajectory Planning ◽  
Simulation Modeling ◽  
Industry 4.0 ◽  
Industrial Robot ◽  
Error Model ◽  
Position Error ◽  
Industrial Robots ◽  
Robot Kinematics ◽  
Kinetic Characteristics

This paper studies the kinematic dynamic simulation modeling of industrial robots in the Industry 4.0 environment and guides the kinematic dynamic simulation modeling of industrial robots in the Industry 4.0 environment in the context of the research. To address the problem that each parameter error has different degrees of influence on the end position error, a method is proposed to calculate the influence weight of each parameter error on the end position error based on the MD-H error model. The error model is established based on the MD-H method and the principle of differential transformation, and then the function of uniform variation of six joint angles with time t is constructed to ensure that each linkage geometric parameter is involved in the motion causing error accumulation. Through the analysis of the robot marking process, the inverse solution is optimized for multiple solutions, and a unique engineering solution is obtained. Linear interpolation, parabolic interpolation, polynomial interpolation, and spline curve interpolation are performed on the results after multisolution optimization in the joint angle, and the pros and cons of various interpolation results are analyzed. The trajectory planning and simulation of industrial robots in the Industry 4.0 environment are carried out by using a special toolbox. The advantages and disadvantages of the two planning methods are compared, and the joint space trajectory planning method is selected to study the planning of its third and fifth polynomials. The kinetic characteristics of the robot were simulated and tested by experimental methods, and the reliability of the simulation results of the kinetic characteristics was verified. The kinematic solutions of industrial robots and the results of multisolution optimization are simulated. The methods, theories, and strategies studied in this paper are slightly modified to provide theoretical and practical support for another dynamic simulation modeling of industrial robot kinematics with various geometries.

scholarly journals Eyes on the Line

2005 ◽  
Vol 127 (08) ◽  
pp. 25-27
Author(s):  
Gayle Ehrenman
Keyword(s):  
Automotive Industry ◽  
Food Packaging ◽  
Industrial Robot ◽  
Low Cost ◽  
Ease Of Use ◽  
Consumer Electronics ◽  
Industrial Robots ◽  
Production Lines ◽  
Robot System ◽  
Pharmaceutical Production

This article discusses vision-enabled robots that are helping factories to keep the production lines rolling, even when the parts are out of place. The automotive industry was one of the earliest to adopt industrial robots, and continues to be one of its biggest users, but now industrial robots are turning up in more unusual factory settings, including pharmaceutical production and packaging, consumer electronics assembly, machine tooling, and food packaging. No current market research is available that breaks down vision-enabled versus blind robot usage. However, all the major industrial robot manufacturers are turning out models that are vision-enabled; one manufacturer said that its entire current line of robots are vision enabled. All it takes to change over the robot system is some fairly basic tooling changes to the robot's end-effector, and some programming changes in the software. The combination of speed, relatively low cost , flexibility, and ease of use that vision-enabled robots offer is making an increasing number of factories consider putting another set of eyes on their lines.

A modular object-oriented framework for hierarchical multi-resolution robot simulation

Robotica ◽  
2004 ◽  
Vol 22 (2) ◽  
pp. 141-154 ◽  
Author(s):  
Sanghoon Yeo ◽  
Jinwook Kim ◽  
Sung Hee Lee ◽  
F. C. Park ◽  
Wooram Park ◽  
...  
Keyword(s):  
Screw Theory ◽  
Dynamic Properties ◽  
Industrial Robot ◽  
Object Oriented ◽  
Data Types ◽  
Robot System ◽  
Constraint Equations ◽  
Low Level ◽  
High Level

We describe the design and implementation of RSTATION, an object-oriented, modular robot simulator with hierarchical analysis capabilities. Modularity is achieved via the features of design encapsulation and enables grouping a set of interconnected components into a single component and dividing the robot system into several sets of subordinate modules recursively. By careful construction of the data types and classes, RSTATION allows for hierarchical simulation of the kinematics, and the dynamics at three levels: considering only main links (high-level), using simplified models including dynamic properties of transmission elements (intermediate level), and taking into account the detailed kinematics and dynamics of transmission elements (low-level). Submodules can be set to different resolution during a single simulation. The data types and classes also exploit a recent set of coordinate invariant robot analysis algorithms based on modern screw theory. Central to the low-level dynamic analysis capability is an algorithm for systematically extracting the constraint equations for general gearing systems. The various features of RSTATION are illustrated with a detailed case study of a commercial industrial robot.

scholarly journals Kinematic Calibration of Industrial Robots Based on Distance Information Using a Hybrid Identification Method

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Guanbin Gao ◽  
Yuan Li ◽  
Fei Liu ◽  
Shichang Han
Keyword(s):  
Industrial Robot ◽  
Kinematic Model ◽  
Error Model ◽  
Industrial Robots ◽  
Kinematic Calibration ◽  
Kinematic Parameters ◽  
Distance Information ◽  
End Effector ◽  
Hybrid Identification ◽  
Identification Method

To improve the positioning accuracy of industrial robots and avoid using the coordinates of the end effector, a novel kinematic calibration method based on the distance information is proposed. The kinematic model of an industrial robot is established. The relationship between the moving distance of the end effector and the kinematic parameters is analyzed. Based on the results of the analysis and the kinematic model of the robot, the error model with displacements as the reference is built, which is linearized for the convenience of the following identification. The singular value decomposition (SVD) is used to eliminate the redundant parameters of the error model. To solve the problem that traditional optimization algorithms are easily affected by data noise in high dimension identification, a novel extended Kalman filter (EKF) and regularized particle filter (RPF) hybrid identification method is presented. EKF is used in the preidentification of the linearized error model. With the preidentification results as the initial parameters, RPF is used to identify the kinematic parameters of the linearized error model. Simulations are carried out to validate the effectiveness of the proposed method, which shows that the method can identify the error of the parameters and after compensation the accuracy of the robot is improved.

SAFETY AND RISK ASSESSMENT AT AUTOMATED WORKPLACE

2018 ◽  
pp. 78-84
Author(s):  
Marek Vagas
Keyword(s):  
Risk Assessment ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Added Value ◽  
Growing Up ◽  
Target Setting ◽  
Clear View ◽  
General Safety

Urgency of the research. Automated workplaces are growing up in present, especially with implementation of industrial robots with feasibility of various dispositions, where safety and risk assessment is considered as most important issues. Target setting. The protection of workers must be at the first place, therefore safety and risk assessment at automated workplaces is most important problematic, which had presented in this article Actual scientific researches and issues analysis. Actual research is much more focused at standard workplaces without industrial robots. So, missing of information from the field of automated workplaces in connection with various dispositions can be considered as added value of article. Uninvestigated parts of general matters defining. Despite to lot of general safety instructions in this area, still is missed clear view only at automated workplace with industrial robots. The research objective. The aim of article is to provide general instructions directly from the field of automated workplaces The statement of basic materials. For success realization of automated workplace is good to have a helping hand and orientation requirements needed for risk assessment at the workplace. Conclusions. The results published in this article increase the awareness and information of such automated workplaces, together with industrial robots. In addition, presented general steps and requirements helps persons for better realization of these types of workplaces, where major role takes an industrial robot. Our proposed solution can be considered as relevant base for risk assessment such workplaces with safety fences or light barriers.

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